%0 Journal Article
%T On the Improvement of Multi-Legged Locomotion over Difficult Terrains using a Balance Stabilization Method
%A Umar Asif
%A Javaid Iqbal
%J International Journal of Advanced Robotic Systems
%D 2012
%I InTech
%X This paper deals with the real©\time walking of a multi-legged robot over difficult terrains using a balance stabilization method in order to achieve a fast speed and robust locomotion with minimal tracking errors. The stabilization method is described through a ZMP©\based online pattern©\generation scheme inspired by bio©\mimetic stepping leg transferences with an active balance control so as to reduce the propagation of instability while performing rapid stepping actions for a fast walking gait in the presence of external disturbances. The proposed control system uses a force©\position controller [14] which takes impact dynamics into consideration to compensate for the effect of external perturbations during walking by estimating impulsive forces in real©\time. Using the proposed stabilization method, the robot plans appropriate footholds on the ground in order to achieve a reasonable average walking speed over difficult terrains in a natural environment. The success and performance of the proposed method is realized through dynamic simulations and real©\world experiments using a six©\legged hexapod robot.
%K Adaptive Walking
%K Hexapod Walking Gaits
%K Stability Control
%U http://www.intechopen.com/articles/show/title/on_the_improvement_of_multi_legged_locomotion_over_difficult_terrains_using_a_balance_stabilization_